Typically you want to minimize url length by removing stop words, prepositions, etc. unless they are creating value within the URL. e.g. bunny-on-stool vs. bunny-stool
I wouldn't go as far as to say it is bad for SEO, but there are some schools of thought that minimizing the number of words in a URL "concentrates" relevance around those terms remaining. That being said, I'm confident Google already ignores common stop words and phrases, and this isn't something I would go about changing in an existing URL structure.
You'll notice some sites, such as wordpress, by default remove the prepositions, etc. from the URLs.